// This file is part of MatrixPilot.
//
//    http://code.google.com/p/gentlenav/
//
// Copyright 2009-2011 MatrixPilot Team
// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
//
// MatrixPilot is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MatrixPilot is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MatrixPilot.  If not, see <http://www.gnu.org/licenses/>.


////////////////////////////////////////////////////////////////////////////////
// mavlink_options.h
// 

// Common data rates
#define 	MAVLINK_RATE_RC_CHAN		0 	/* RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */	
#define 	MAVLINK_RATE_IMU_RAW		0	/* ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
#define 	MAVLINK_RATE_POSITION		8	/* LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
#define 	MAVLINK_RATE_RAW_SENSORS	2	/* IMU_RAW, GPS_RAW, GPS_STATUS packets. | */

// Fixed data rates
#define 	MAVLINK_RATE_HEARTBEAT		4
#define		MAVLINK_RATE_SYSTEM_STATUS	4

// Matrixpilot specific data rates
#define 	MAVLINK_RATE_SUE			8	// SERIAL_UDB_EXTRA data rate on channel EXTRA1
#define MAVLINK_RATE_POSITION_SENSORS	0	// Using channel EXTRA2

// Send VFR_HUD message at position rate, 1=yes, 0=no.  Needed for correct mavproxy state
#define		MSG_VFR_HUD_WITH_POSITION	0	

#define 	MAVLINK_FRAME_FREQUENCY		40
#define 	MAVLINK_WAYPOINT_TIMEOUT 	120 // Dependent on frequency of calling mavlink_output_40hz. 120 is 3 second timeout.

// 19200,38400,57600,115200,230400,460800,921600
// Fixed 19200 for non free running clock
#define MAVLINK_BAUD					57600
